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1. GREAT-PVT ver-1.0.0
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‎README.md‎

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# GREAT-PVT
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# GREAT-PVT: 武汉大学GREAT团队精密定位导航软件（内测版）
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## 概述
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&emsp;&emsp;GREAT (GNSS+ REsearch, Application and Teaching) 软件由武汉大学测绘学院设计开发，是一个用于空间大地测量数据处理、精密定位和定轨以及多源融合导航的综合性软件平台。<br />
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&emsp;&emsp;GREAT-PVT是GREAT软件中的一个重要模块，主要用于精密定位解算。软件中，核心计算模块使用C++语言(C++17)编写，辅助脚本模块使用Python3和C-Shell语言实现自动化数据处理。GREAT-PVT软件使用CMAKE工具进行编译管理，用户可以灵活选择GCC、Clang、MSVC等主流C++编译器。目前软件提供了Windows和Linux平台的命令行应用程序。<br />
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&emsp;&emsp;GREAT-PVT由2个可移植程序库组成，分别是LibGREAT和LibGnut。LibGREAT库主要用于PPP、RTK滤波解算，包括滤波估计中涉及的数据解码、存储以及PPP、PPP-AR、RTK算法的实现，LibGnut库来源于开源GNSS软件G-nut，包括GNSS数据的解码和存储以及基本参数配置模块。<br />
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&emsp;&emsp;GREAT-PVT软件主要特点包括：
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1. 支持GPS、GLONASS、Galileo、BDS-2/3系统
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2. 支持多频PPP浮点解与固定解
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3. 支持无电离层组合、非差非组合PPP观测值组合方式
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4. 支持多频率多系统PPP浮点解与固定解
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5. 支持双频、单双频混合RTK解算
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&emsp;&emsp;此外，软件包还提供批处理脚本和定位结果绘图脚本，便于用户对多天数据进行解算与结果分析。
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## 软件包目录结构
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```shell
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GREAT-PVT_<ver>
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./bin Windows和Linux可执行程序 *
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./src 源代码 *
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./app GREAT-PVT主程序 *
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./LibGREAT PPP、PPP-AR、RTK解算库 *
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./LibGnut Gnut库 *
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./third-party 第三方库 *
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./sample_data 算例数据 *
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./PPPFLT_2023304 PPP算例 *
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./RTKFLT_2020351 RTK算例 *
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./util 脚本工具 *
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./batch_process PPP批处理脚本 *
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./plot 画图脚本 *
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./poleut1 地球定向参数生成程序 *
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./doc 文档 *
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GREAT_PPP.xml PPP配置文件模板 *
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GREAT_RTK.xml RTK配置文件模板 *
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GREAT-PVT_1.0.pdf GREAT-PVT用户指南 *
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```
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## 安装和使用
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参见GREAT-PVT_1.0.pdf
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## 参与贡献
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开发人员：
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武汉大学GREAT团队, Wuhan University.
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三方库：
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* GREAT-PVT使用G-Nut库(http://www.pecny.cz)
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Copyright (C) 2011-2016 GOP - Geodetic Observatory Pecny, RIGTC.
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* GREAT-PVT使用pugixml库(http://pugixml.org)
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Copyright (C) 2006-2014 Arseny Kapoulkine.
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* GREAT-PVT使用Newmat库(http://www.robertnz.net/nm_intro.htm)
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Copyright (C) 2008: R B Davies.
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* GREAT-PVT使用spdlog库（https://github.com/gabime/spdlog）
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Copyright(c) 2015-present, Gabi Melman & spdlog contributors.
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* GREAT-PVT使用Eigen库（https://eigen.tuxfamily.org）
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Copyright (C) 2008-2011 Gael Guennebaud
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* 脚本工具使用部分FAST源码(https://github.com/ChangChuntao/FAST)
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Copyright (C) The GNSS Center, Wuhan University & Chinese Academy of Surveying and mapping.
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## 下载地址
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GitHub：https://github.com/GREAT-WHU/GREAT-PVT
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欢迎加入QQ群（1009827379）参与讨论与交流。
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‎bin/Linux/GREAT_PVT‎

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‎bin/Linux/libLibGREAT.so‎

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‎bin/Linux/libLibGnut.so‎

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‎bin/Windows/GREAT_PVT.exe‎

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‎bin/Windows/LibGREATrd.dll‎

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‎bin/Windows/LibGnutrd.dll‎

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‎doc/GREAT-PVT_1.0.pdf‎

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‎doc/GREAT_PPP.xml‎

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<?xml version='1.0' encoding='utf-8'?>
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<config>
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<gen>
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<beg> 2024-02-09 00:00:00 </beg> <!--> begin time <!-->
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<end> 2024-02-09 23:59:30 </end> <!--> end time <!-->
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<int> 30 </int> <!--> sampling interval <!-->
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<sys> GPS GAL BDS GLO </sys> <!--> system ex：GPS GAL GLO QZS BDS SBS <!-->
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<rec> GODN MBAR SGOC </rec> <!--> site (4-char upper) <!-->
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<est> FLT </est> <!--> Estimator ：FLT <!-->
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</gen>
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<inputs>
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<rinexo> <!--> rinex obs file <!-->
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obs\GODN00USA_R_20240400000_01D_30S_MO.24o
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obs\MBAR00UGA_R_20240400000_01D_30S_MO.24o
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obs\SGOC00LKA_R_20240400000_01D_30S_MO.24o
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</rinexo>
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<rinexn> gnss\brdc0400.24p </rinexn> <!--> rinex nav file <!-->
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<rinexc> gnss\COD0MGXFIN_20240400000_01D_30S_CLK.CLK </rinexc> <!--> precise satellite clock offset file <!-->
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<sp3> gnss\COD0MGXFIN_20240400000_01D_05M_ORB.SP3 </sp3> <!--> precise orbit file <!-->
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<de> model\jpleph_de405_great </de> <!--> Planetary ephemeris file <!-->
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<atx> model\igs20_2290.atx </atx> <!--> Antenna correction file <!-->
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<blq> model\oceanload </blq> <!--> oceanload file <!-->
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<eop> model\poleut1 </eop> <!--> ERP file <!-->
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<bias> gnss\CAS0MGXRAP_20240400000_01D_01D_DCB.BSX </bias> <!--> DCB file <!-->
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<upd> upd\upd_wl_2024040_GREC upd\upd_nl_2024040_GREC </upd> <!--> uncalibrated phase delay, for fixing ambiguity <!-->
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</inputs>
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<outputs append="false" verb="0"> <!--> output file：whether append & verb：the larger the value，the more detailed the output log. <!-->
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<log type="CONSOLE" name="ppp" level="INFO"/> <!--> log file <!-->
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<ppp> .\result\$(rec)-PPP </ppp> <!--> ppp log file <!-->
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<flt> .\result\$(rec)-PPP.flt </flt> <!--> result file <!-->
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</outputs>
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<gps sigma_C="0.6" sigma_L="0.01"> <!--> GPS pseudorange sigma & phase sigma <!-->
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<sat> <!--> satellite prn <!-->
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G01 G02 G03 G04 G05 G06 G07 G08 G09 G10
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G11 G12 G13 G14 G15 G16 G17 G18 G19 G20
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G21 G22 G23 G24 G25 G26 G27 G28 G29 G30
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G31 G32
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</sat>
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<band> 1 2 </band> <!--> the satellite frequency, for example, C5X, is represented as 5 <!-->
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<freq> 1 2 </freq> <!--> satellite frequency, corresponding to band, optional value 1/2/3/4/5 <!-->
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</gps>
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<glo sigma_C="0.6" sigma_L="0.01"> <!--> GLO pseudorange sigma & phase sigma <!-->
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<sat>
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R01 R02 R03 R04 R05 R06 R07 R08 R09 R10
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R11 R12 R13 R14 R15 R16 R17 R18 R19 R20
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R21 R22 R23 R24
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</sat>
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<band> 1 2 </band>
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<freq> 1 2 </freq>
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</glo>
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<gal sigma_C="0.6" sigma_L="0.01"> <!--> GAL pseudorange sigma & phase sigma <!-->
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<sat>
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E01 E02 E03 E04 E05 E06 E07 E08 E09 E10
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E11 E12 E13 E14 E15 E16 E17 E18 E19 E20
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E21 E22 E23 E24 E25 E26 E27 E28 E29 E30
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E31 E32 E33 E34 E35 E36
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</sat>
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<band> 1 5 </band>
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<freq> 1 2 </freq>
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</gal>
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<bds sigma_C="0.6" sigma_L="0.01"> <!--> BDS pseudorange sigma & phase sigma <!-->
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<sat>
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C06 C07 C08 C09 C10
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C11 C12 C13 C14 C15 C16 C17 C18 C19 C20
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C21 C22 C23 C24 C25 C26 C27 C28 C29 C30
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C31 C32 C33 C34 C35 C36 C37 C38 C39
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C41 C42 C43 C44 C45 C46
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</sat>
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<band> 2 6 </band>
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<freq> 1 2 </freq>
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</bds>
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<qzs sigma_C="0.6" sigma_L="0.01"> <!--> QZS pseudorange sigma & phase sigma <!-->
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<sat>
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J01 J02 J03 J04
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</sat>
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<band> 1 2 </band>
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<freq> 1 2 </freq>
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</qzs>
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<process>
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<phase> true </phase> <!--> use phase obs (true/false) <!-->
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<tropo> true </tropo> <!--> estimate trop param (true/false) <!-->
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<iono> true </iono> <!--> estimate iono param (true/false) <!-->
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<doppler> false </doppler> <!--> use doppler obs (true/false) <!-->
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<tropo_model> saastamoinen </tropo_model> <!--> trop model <!-->
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<sig_init_crd> 30 </sig_init_crd> <!--> initial sigma of coordinate <!-->
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<sig_init_vel> 10 </sig_init_vel> <!--> initial sigma of velocity <!-->
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<sig_init_ztd> 10 </sig_init_ztd> <!--> initial sigma of ztd <!-->
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<sig_init_amb> 30 </sig_init_amb> <!--> initial sigma of ambiguity <!-->
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<sig_init_gal> 10 </sig_init_gal> <!--> initial sigma of Galileo isb/ifb <!-->
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<sig_init_glo> 10 </sig_init_glo> <!--> initial sigma of GLONASS isb/ifb <!-->
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<sig_init_bds> 10 </sig_init_bds> <!--> initial sigma of BDS isb/ifb <!-->
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<sig_init_vion> 100 </sig_init_vion> <!--> initial sigma of slant iono <!-->
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<minimum_elev> 7 </minimum_elev> <!--> cut-off satellite elevation(deg) <!-->
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<obs_combination> RAW_ALL </obs_combination> <!--> obs comb type (IONO_FREE/RAW_ALL) <!-->
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<max_res_norm> 3 </max_res_norm> <!--> posterior residual threshold <!-->
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<crd_constr> est </crd_constr> <!--> coordinate constraint method (EST/FIX/KIN) <!-->
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<pos_kin> false </pos_kin> <!--> kinematic mode (true/false) <!-->
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<min_sat> 5 </min_sat> <!--> min satellite number <!-->
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<obs_weight> SINEL </obs_weight> <!--> weigh model of obs <!-->
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<bds_code_bias_corr> true </bds_code_bias_corr> <!--> whether to correct BDS codeBias (true/false) <!-->
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<slip_model> default </slip_model> <!--> cycle slip detect method <!-->
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<frequency> 2 </frequency> <!--> frequency number <!-->
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</process>
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<!--filter
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method_flt filter method(srcf, kalman)
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noise_crd noise of rec coordinate
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noise_vel noise of rec velocity
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noise_clk noise of rec clk
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noise_dclk noise of rec dclk
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noise_vion noise of iono
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rndwk_ztd random walk of ztd
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rndwk_amb random walk of ambiguity
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rndwk_glo random walk of GLONASS isb/ifb
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rndwk_gal random walk of Galileo isb/ifb
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rndwk_bds random walk of BDS isb/ifb
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rndwk_gps random walk of BDS ifb
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/-->
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<filter
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method_flt="srcf"
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noise_crd="0"
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noise_vel="1"
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noise_clk = "1000"
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noise_dclk="100"
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noise_vion="100"
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rndwk_ztd="6"
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rndwk_amb="0"
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rndwk_glo = "20"
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rndwk_gal = "20"
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rndwk_bds = "20"
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rndwk_gps = "20"
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/>
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<ambiguity>
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<fix_mode> SEARCH </fix_mode> <!--> ambiguity fixed mode (NO/SEARCH) <!-->
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<upd_mode> UPD </upd_mode> <!--> upd mode <!-->
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<part_fix> YES </part_fix> <!--> part_fix (YES/NO) <!-->
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<part_fix_num> 4 </part_fix_num> <!--> threshold in partial ambiguity fixing <!-->
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<ratio> 2.0 </ratio> <!--> threshold in LAMBDA method <!-->
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<set_refsat> YES </set_refsat> <!--> set_refsat (YES/NO) <!-->
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<min_common_time> 1 </min_common_time> <!--> minimum common time/seconds <!-->
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<extra_widelane_decision maxdev = "0.07" maxsig = "0.10" alpha = "1000" /> <!--> extra widelane setting, alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
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<widelane_decision maxdev = "0.25" maxsig = "0.12" alpha = "1000" /> <!--> widelane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
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<narrowlane_decision maxdev = "0.35" maxsig = "0.12" alpha = "1000" /> <!--> narrowlane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
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</ambiguity>
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</config>

‎doc/GREAT_RTK.xml‎

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<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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<!DOCTYPE config>
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<config>
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<gen>
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<beg> "2020-12-16 07:00:00" </beg> <!--> begin time <!-->
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<end> "2020-12-16 08:50:00" </end> <!--> end time <!-->
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<sys > GPS GAL BDS </sys> <!--> system ex: GAL GLO QZS BDS SBS <!-->
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<rec> SEPT WUDA </rec> <!--> site (4-char upper) <!-->
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<base> WUDA </base> <!--> base site (4-char upper) <!-->
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<rover> SEPT </rover> <!--> rover site (4-char upper) <!-->
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<int> 1 </int> <!--> sampling interval <!-->
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</gen>
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<receiver>
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<rec id="WUDA" X="-2267761.0442" Y="5009370.8908" Z="3220970.5961"/> <!--> base site coordinate <!-->
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</receiver>
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<inputs>
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<rinexo> obs\SEPT3510.20O obs\WUDA3510.20O </rinexo> <!--> rinex obs file <!-->
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<rinexn> gnss\brdm3510.20p </rinexn> <!--> rinex nav file <!-->
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<atx> model\igs20_2290.atx </atx> <!--> Antenna correction file <!-->
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<blq> model\oceanload </blq> <!--> oceanload file <!-->
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<de> model\jpleph_de405_great </de> <!--> Planetary ephemeris file <!-->
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<eop> model\poleut1 </eop> <!--> ERP file <!-->
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</inputs>
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<outputs>
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<log type="BASIC" level="INFO" /> <!--> log file <!-->
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<ppp> result/$(rec)-RTK </ppp> <!--> RTK log file <!-->
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<flt> result/$(rec)-RTK.flt </flt> <!--> result file <!-->
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</outputs>
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<process>
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<phase> true </phase> <!--> use phase obs (true/false) <!-->
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<tropo> false </tropo> <!--> estimate trop param (true/false) <!-->
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<iono> false </iono> <!--> estimate iono param (true/false) <!-->
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<doppler> false </doppler> <!--> use doppler obs (true/false) <!-->
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<tropo_model> saastamoinen </tropo_model> <!--> trop model <!-->
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<sig_init_crd> 30 </sig_init_crd> <!--> initial sigma of coordinate <!-->
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<sig_init_vel> 10 </sig_init_vel> <!--> initial sigma of velocity <!-->
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<sig_init_ztd> 10 </sig_init_ztd> <!--> initial sigma of ztd <!-->
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<sig_init_amb> 30 </sig_init_amb> <!--> initial sigma of ambiguity <!-->
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<sig_init_gal> 10 </sig_init_gal> <!--> initial sigma of Galileo isb/ifb <!-->
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<sig_init_glo> 10 </sig_init_glo> <!--> initial sigma of GLONASS isb/ifb <!-->
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<sig_init_bds> 10 </sig_init_bds> <!--> initial sigma of BDS isb/ifb <!-->
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<sig_init_vion> 100 </sig_init_vion> <!--> initial sigma of slant iono <!-->
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<minimum_elev> 7 </minimum_elev> <!--> cut-off satellite elevation(deg) <!-->
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<obs_combination> RAW_MIX </obs_combination> <!--> obs comb type <!-->
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<max_res_norm> 3 </max_res_norm> <!--> posterior residual threshold <!-->
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<pos_kin> true </pos_kin> <!--> kinematic mode (true/false) <!-->
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<min_sat> 5 </min_sat> <!--> min satellite number <!-->
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<obs_weight> SINEL </obs_weight> <!--> weigh model of obs <!-->
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<basepos> CFILE </basepos> <!--> Base station coordinate acquisition method(CFILE/spp) <!-->
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<bds_code_bias_corr> true </bds_code_bias_corr> <!--> whether to correct BDS codeBias (true/false) <!-->
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<slip_model> default </slip_model> <!--> cycle slip detect method <!-->
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<frequency> 2 </frequency> <!--> frequency number <!-->
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</process>
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<!--filter
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method_flt filter method(srcf, kalman)
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noise_crd noise of rec coordinate
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noise_vel noise of rec velocity
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noise_dclk noise of rec dclk
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rndwk_ztd random walk of ztd
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rndwk_amb time interval of ambiguity reset
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/-->
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<filter
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method_flt="kalman"
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noise_crd="30"
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noise_vel="1"
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noise_dclk="100"
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rndwk_ztd="6"
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reset_amb="0"
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/>
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<ambiguity>
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<fix_mode> SEARCH </fix_mode> <!--> ambiguity fixed mode (NO/SEARCH) <!-->
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<part_fix> YES </part_fix> <!--> part_fix (YES/NO) <!-->
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<part_fix_num> 3 </part_fix_num> <!--> threshold in partial ambiguity fixing <!-->
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<ratio> 2.5 </ratio> <!--> threshold in LAMBDA method <!-->
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<min_common_time> 0 </min_common_time> <!--> minimum common time/seconds <!-->
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<extra_widelane_decision maxdev = "0.1" maxsig = "0.10" alpha = "1000" /> <!--> extra widelane setting, alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
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<widelane_decision maxdev = "0.275" maxsig = "0.10" alpha = "1000" /> <!--> widelane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
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<narrowlane_decision maxdev = "0.375" maxsig = "0.10" alpha = "1000" /> <!--> narrowlane setting, option: alpha&maxdev(Confidence interval parameter), maxsig(maximum sigma) <!-->
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</ambiguity>
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<bds sigma_C="3" sigma_L="0.03" > <!--> BDS pseudorange sigma & phase sigma <!-->
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<freq> 1 2 </freq> <!--> the satellite frequency, for example, C5X, is represented as 5 <!-->
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<band> 2 6 </band> <!--> satellite frequency, corresponding to band, optional value 1/2/3/4/5 <!-->
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</bds>
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<gps sigma_C="2" sigma_L="0.02" >
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<freq> 1 2 </freq>
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<band> 1 2 </band>
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</gps>
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<gal sigma_C="3" sigma_L="0.03" >
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<freq> 1 2 </freq>
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<band> 1 5 </band>
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</gal>
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<glo sigma_C="4" sigma_L="0.04" >
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<freq> 1 2 </freq>
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<band> 1 2 </band>
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</glo>
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<qzs sigma_C="0.6" sigma_L="0.01" >
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<freq> 1 2 </freq>
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<band> 1 2 </band>
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</qzs>
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</config>
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